Construction Information management that various participants in construction industry make, and information application which is produced by step, are not being conducted systematically. This is because construction industry has its own peculiarities such as diverse construction environments by the change of the time and field, non-repeated process, and labor-intensive structure of production. “Robot Crane based construction Automation (RCA)” of R&D studies is to combine construction industry with robotic and IT technology and automate it. Thus the purpose of this study is to provide information about the lifting of materials, installation, and the processing of construction work in the field to field managers by developing 3D CAD based RTVS of RCA steel frame fabrication. The study applied the steel frame fabrication part in steel frame work to RCA not previous fields. To set up a database of RTVS and the stream of the system, the study analyzes the operation sequence of steel frame fabrication and management information. To develop RTVS, the study designs an integrated database. Finally, develop RTVS through the designed database. RTVS can express the conditions of the field real time by 3D visualized model unlike existing developed systems, and thus it helps to understand promptly the main conditions in the field and takes emergency steps to deal with the problem. The study conducted to develop RTVS, and expects to raise degree of completion of the system by applying to fields in the future.